Feature request

Feature description

We have the need for IsPathValid BT node to support two more inputs:

• custom string footprint (defaults to footprint defined for global_costmap). Use case: we have footprints with different safety margins.
• selection of costmap layer (defaults to full costmap). Use case: useful to check only the static_layer and ignore dynamic obstacles

I believe these new inputs can be general enough to benefit the community. What do you think?

FYI @doisyg